A hydraulic drive based seabed stratum drilling monitoring robot

Abstract

The application discloses a kind of based on hydraulic drive's seabed stratum drilling monitoring robot, including sequentially connected head drilling body section, steering section and tail drilling body section;Head drilling body section includes head spiral drill bit, first outer cylinder is fixed in head spiral drill bit, first outer cylinder is equipped with first hydraulic drive device in it, and first hydraulic drive device is connected with first outer cylinder by first transmission module;Tail drilling body section includes tail spiral drill bit, tail outer cylinder is fixed in tail spiral drill bit, tail outer cylinder is equipped with tail hydraulic drive device in it, and tail hydraulic drive device is connected with tail outer cylinder by tail transmission module;Steering section includes steering section outer cylinder and steering mechanism, and steering mechanism includes first steering ring, first steering push cylinder, tail steering ring and tail steering push cylinder;First control cabin is equipped in head drilling body section, and sensor is equipped in steering section.The application can realize downhole large range, low disturbance, real-time in-situ environmental monitoring.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of seabed robots, in particular to a seabed stratum drilling monitoring robot based on hydraulic drive. BACKGROUND

[0002] The industrialization of marine gas hydrate is a major strategic requirement for ensuring national energy security, and safety and green development are important prerequisites for the industrialization of hydrates. Gas hydrates are generally located in the continental slope area of passive continental margins, and regional geological structures such as slopes, irregular strata, and instability of hydrate sedimentary layers constitute potential factors for engineering disasters. The process of hydrate exploitation may damage the engineering mechanics structure of the stratum, leading to seabed collapse and other geological disasters, causing large-scale methane leakage and causing significant marine environmental problems. Therefore, to achieve safe and green development of gas hydrates, the exploration and monitoring of seabed strata are becoming increasingly important.

[0003] At present, the main means for hydrate sedimentary stratum exploration and monitoring are geophysical methods, geochemical methods, microbial methods, and geological methods. Among them, three-dimensional seismic exploration technology, drilling core sampling and logging technology are relatively common technical means. Three-dimensional seismic exploration has the advantages of fast speed, wide range, and strong lateral tracking ability, but it is suitable for overall range investigation and has weak in-situ real-time dynamic change process detection capability for specific research sites. Drilling core sampling and logging technology can obtain in-situ samples and related temperature and pressure, methane concentration, and resistivity data, but it can only monitor the vertical drilling process and the wellbore, and has weak lateral monitoring capability and limited monitoring range for single operation. Other means such as seabed in-situ static cone penetration, seabed topography deformation monitoring, etc. also have the disadvantages of only vertical monitoring, inability to penetrate into the stratum, limited monitoring range for single operation, and large disturbance. In view of this, there is an urgent need in the field for an in-situ stratum investigation means to solve the shortcomings of current exploration and monitoring methods. SUMMARY

[0004] The purpose of the present application is to provide a seabed stratum drilling monitoring robot based on hydraulic drive to solve the problems existing in the prior art, which can carry various sensors, penetrate into the sedimentary layer, and realize vertical and horizontal drilling movement, and carry out long-term, large-scale, low-disturbance, real-time in-situ dynamic monitoring of seabed strata.

[0005] To achieve the above purpose, the present application provides the following solutions:

[0006] The present application provides a seabed stratum drilling monitoring robot based on hydraulic drive, comprising a head drilling body section, a turning body section and a tail drilling body section connected in sequence.

[0007] The head drilling body section comprises a head spiral drill bit, the outer surface of which is provided with head spiral blades, and a head outer cylinder fixedly arranged in the head spiral drill bit, and a head hydraulic drive device arranged in the head outer cylinder, the head hydraulic drive device being connected with the head outer cylinder through a head transmission module for driving the head outer cylinder to rotate together with the head spiral drill bit;

[0008] The tail drilling body section comprises a tail spiral drill bit, the outer surface of which is provided with tail spiral blades, and a tail outer cylinder fixedly arranged in the tail spiral drill bit, and a tail hydraulic drive device arranged in the tail outer cylinder, the tail hydraulic drive device being connected with the tail outer cylinder through a tail transmission module for driving the tail outer cylinder to rotate together with the tail spiral drill bit;

[0009] The steering body section comprises a steering body section outer cylinder and a steering mechanism, the steering mechanism comprising a head steering ring, head steering push cylinders, a tail steering ring and tail steering push cylinders; the head steering ring being connected with the head hydraulic drive device, the head steering ring being rotatably connected at both ends in the radial direction of the head steering ring to the head end of the steering body section outer cylinder, the tail steering ring being connected with the tail hydraulic drive device, the tail steering ring being rotatably connected at both ends in the radial direction of the tail steering ring to the tail end of the steering body section outer cylinder, and the rotational axis of the tail steering ring being perpendicular to the rotational axis of the head steering ring;

[0010] Both ends in the radial direction of the head steering ring perpendicular to the rotational axis of the head steering ring are respectively hinged to one end of two head steering push cylinders through fisheye joints, and the other end of the two head steering push cylinders is respectively hinged to both ends in the radial direction of the rotational axis of the tail steering ring;

[0011] Both ends in the radial direction of the tail steering ring perpendicular to the rotational axis of the tail steering ring are respectively hinged to one end of two tail steering push cylinders through fisheye joints, and the other end of the two tail steering push cylinders is respectively hinged to both ends in the radial direction of the rotational axis of the head steering ring;

[0012] The head drilling body section is provided with a main control cabin, the steering body section is provided with a sensor for measuring the seabed environment, the tail drilling body section is provided with a solenoid valve, and the tail end of the tail drilling body section is connected with a hydraulic oil pipe, an electric cable and a communication cable; the hydraulic oil pipe is connected with the head hydraulic drive device, the tail hydraulic drive device, each head steering push cylinder and each tail steering push cylinder through the solenoid valve; the electric cable is connected with the main control cabin, the sensor and the solenoid valve; the sensor and the solenoid valve are respectively connected with the main control cabin in signal; and the communication cable is connected with the main control cabin.

[0013] In an embodiment, the head hydraulic driving device comprises a head hydraulic motor and a head motor cylinder, the head hydraulic motor is fixedly arranged in the head motor cylinder, and the tail end of the head motor cylinder is connected with the tail end of the head outer cylinder through a first bearing.

[0014] In an embodiment, the head transmission module comprises a head driving gear, a head driven gear and a head ring gear, the head driving gear is fixed to the output end of the head hydraulic motor, the head ring gear is fixed in the head outer cylinder, the head driven gear is engaged with the head driving gear and the head ring gear respectively, the head driven gear is rotatably connected to a fixed shaft on a head gear support plate, the head gear support plate is fixed to the head motor cylinder, and the head transmission module is provided with a head oil pipe protection plate on the side away from the head gear support plate, and the head oil pipe protection plate is fixedly connected with the head gear support plate through a head support column.

[0015] In an embodiment, the tail hydraulic driving device comprises a tail hydraulic motor and a tail motor cylinder, the tail hydraulic motor is fixedly arranged in the tail motor cylinder, and the head end of the tail motor cylinder is connected with the head end of the tail outer cylinder through a second bearing.

[0016] In an embodiment, the tail transmission module comprises a tail driving gear, a tail driven gear and a tail ring gear, the tail driving gear is fixed to the output end of the tail hydraulic motor, the tail ring gear is fixed in the tail outer cylinder, the tail driven gear is engaged with the tail driving gear and the tail ring gear respectively, the tail driven gear is rotatably connected to a fixed shaft on a tail gear support plate, the tail gear support plate is fixed to the tail motor cylinder, and the tail transmission module is provided with a tail oil pipe protection plate on the side away from the tail gear support plate, and the tail oil pipe protection plate is fixedly connected with the tail gear support plate through a tail support column.

[0017] In an embodiment, the main control cabin is arranged at the head end of the head outer cylinder and located on the side of the head oil pipe protection plate close to the head end of the head outer cylinder.

[0018] In an embodiment, the sensors comprise a methane sensor, a cone tip / side friction sensor, a temperature sensor and a pressure sensor, which are uniformly arranged on the inner side of the steering body section outer cylinder in a circumferential direction; the electromagnetic valves are provided with eight, which are uniformly distributed on the outer side of the tail motor cylinder in a circumferential direction.

[0019] In an embodiment, the tail end of the head motor cylinder is fixedly connected with the head steering ring through a first flange mechanism;

[0020] The first end of the tail motor barrel is fixedly connected with the tail steering ring through a second flange mechanism.

[0021] In an embodiment, the first end of the tail motor barrel is fixedly connected with the tail steering ring through a second flange mechanism.

[0022] The tail motor barrel is fixedly connected with the tail steering ring through a second flange mechanism.

[0023] In an embodiment, the tail motor barrel is fixedly connected with the tail steering ring through a second flange mechanism.

[0024] The present application has the following technical effects relative to the prior art:

[0025] The first hydraulic driving device and the tail hydraulic driving device are responsible for drilling and retreating of the robot, the first steering push cylinder and the tail steering push cylinder in the steering body section are responsible for steering of the robot, the main control cabin is responsible for functions such as sensor data acquisition and storage, solenoid valve control, and robot path planning, the sensors arranged on the steering body section are responsible for the function of monitoring environmental parameters of the stratum, the whole robot is powered through the cable, the first hydraulic driving device, the tail hydraulic driving device, each first steering push cylinder, and each tail steering push cylinder are supplied with oil through the hydraulic oil pipe and the control of the solenoid valve by the main control cabin, the control of drilling, retreating, and steering is realized, and communication with the robot is realized through the communication cable. The present application can carry various sensors, realize drilling movement in the vertical and horizontal directions by penetrating into the inside of the sediment layer, and carry out long-term, large-range, low-disturbance, and real-time in-situ dynamic monitoring of the seabed stratum. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0027] Figure 1 The structure schematic diagram of the seabed stratum drilling and monitoring robot based on hydraulic driving in the embodiments of the present application is shown.

[0028] Figure 2 The structure schematic diagram of the first drilling body section in the embodiments of the present application is shown.

[0029] Figure 3 The structure schematic diagram of the first transmission module in the embodiments of the present application is shown.

[0030] Figure 4 Structure diagram of the steering body segment in the embodiment of the present application;

[0031] Figure 5 Structure diagram of the tail drilling body segment in the embodiment of the present application;

[0032] Figure 6 Structure diagram of the steering body segment in the embodiment of the present application.

[0033] In the figure: 1 - head drilling body segment, 10 - head spiral drill bit, 11 - head spiral blade, 12 - head outer cylinder, 13 - head hydraulic drive device, 130 - head hydraulic motor, 131 - head motor cylinder, 14 - head transmission module, 140 - head driving gear, 141 - head driven gear, 142 - head gear ring, 15 - main control cabin, 16 - first bearing, 17 - head gear support plate, 18 - head oil pipe protection plate, 19 - head support column, 2 - steering body segment, 20 - steering body segment outer cylinder, 21 - steering mechanism, 210 - head steering ring, 211 - head steering push cylinder, 212 - tail steering ring, 213 - tail steering push cylinder, 214 - fish eye joint, 215 - first bearing seat, 216 - first bearing seat support plate, 217 - second bearing seat, 218 - second bearing seat support plate, 219 - steering push cylinder base, 3 - tail drilling body segment, 30 - tail spiral drill bit, 31 - tail spiral blade, 32 - tail outer cylinder, 33 - tail hydraulic drive device, 330 - tail hydraulic motor, 331 - tail motor cylinder, 34 - tail transmission module, 35 - electromagnetic valve, 36 - second bearing, 37 - tail gear support plate, 38 - tail oil pipe protection plate, 40 - methane sensor, 41 - cone tip / side friction sensor, 42 - temperature sensor, 43 - pressure sensor, 5 - first flange mechanism, 6 - second flange mechanism. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0035] The purpose of the present application is to provide a hydraulic drive-based seabed stratum drilling monitoring robot to solve the problems in the prior art, which can carry various sensors, realize vertical and horizontal drilling movement in the interior of the sediment layer, and carry out long-term, large-range, low-disturbance and real-time in-situ dynamic monitoring of the seabed stratum.

[0036] In order to make the above objectives, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0037] As shown in the drawings, Figures 1-6 The present embodiment provides a hydraulic drive-based seabed stratum drilling monitoring robot, which comprises a head drilling body section 1, a steering body section 2 and a tail drilling body section 3 connected in sequence.

[0038] The head drilling body section 1 comprises a head spiral drill bit 10, the outer surface of which is provided with head spiral blades 11, and the inside of which is fixedly provided with a head outer cylinder 12, which is fixedly connected with the head spiral drill bit 10 through a fastening screw, and the inside of which is provided with a head hydraulic drive device 13, which is connected with the head outer cylinder 12 through a head transmission module 14, for driving the head outer cylinder 12 to rotate together with the head spiral drill bit 10.

[0039] The tail drilling body section 3 comprises a tail spiral drill bit 30, the outer surface of which is provided with tail spiral blades 31, and the inside of which is fixedly provided with a tail outer cylinder 32, which is fixedly connected with the tail spiral drill bit 30 through a fastening screw, and the inside of which is provided with a tail hydraulic drive device 33, which is connected with the tail outer cylinder 32 through a tail transmission module 34, for driving the tail outer cylinder 32 to rotate together with the tail spiral drill bit 30.

[0040] The steering body section 2 comprises a steering body section outer cylinder 20 and a steering mechanism 21, the steering mechanism 21 comprising a head steering ring 210, a head steering push cylinder 211, a tail steering ring 212 and a tail steering push cylinder 213; the head steering ring 210 is connected with the head hydraulic drive device 13, and the two ends in the radial direction of the head steering ring 210 are rotatably connected to the head end of the steering body section outer cylinder 20, specifically, the two ends in the radial direction of the head steering ring 210 are rotatably connected to a first bearing seat 215 through bearings, the first bearing seat 215 is fixed to a first bearing seat support plate 216 through screws, and the first bearing seat support plate 216 is fixed to the head end of the steering body section outer cylinder 20 through screws; the tail steering ring 212 is connected with the tail hydraulic drive device 33, and the two ends in the radial direction of the tail steering ring 212 are rotatably connected to the tail end of the steering body section outer cylinder 20, and the rotation axis thereof is perpendicular to the rotation axis of the head steering ring 210, specifically, the two ends in the radial direction of the tail steering ring 212 are rotatably connected to a second bearing seat 217 through bearings, the second bearing seat 217 is fixed to a second bearing seat support plate 218 through screws, and the second bearing seat support plate 218 is fixed to the tail end of the steering body section outer cylinder 20 through screws.

[0041] The two ends of the head turning ring 210 in the radial direction perpendicular to the rotation axis thereof are respectively hinged to one end of the two head turning push cylinders 211 through fisheye joints 214, and the other end of the two head turning push cylinders 211 is respectively hinged to the two ends in the radial direction corresponding to the rotation axis of the tail turning ring 212 through a turning push cylinder base 219;

[0042] The two ends of the tail turning ring 212 in the radial direction perpendicular to the rotation axis thereof are respectively hinged to one end of the two tail turning push cylinders 213 through fisheye joints 214, and the other end of the two tail turning push cylinders 213 is respectively hinged to the two ends in the radial direction corresponding to the rotation axis of the head turning ring 210 through a turning push cylinder base 219;

[0043] The head drilling body section 1 is provided with a main control cabin 15, the turning body section 2 is provided with a sensor for measuring the seabed environment, and the tail drilling body section 3 is provided with a solenoid valve 35. The tail drilling body section 3 is connected with a hydraulic oil pipe, an electric cable and a communication cable. The hydraulic oil pipe is connected with the head hydraulic driving device 13, the tail hydraulic driving device 33, each head turning push cylinder 211 and each tail turning push cylinder 213 through the solenoid valve 35. The electric cable is connected with the main control cabin 15, the sensor and the solenoid valve 35. The sensor and the solenoid valve 35 are respectively signal connected with the main control cabin 15. The communication cable is connected with the main control cabin 15, so as to realize the power supply, oil supply and communication functions of the robot.

[0044] Under the control of the main control cabin 15 on the solenoid valve 35, the head drilling body section 1 can swing a certain angle up and down, and the tail drilling body section 3 can swing a certain angle left and right, so as to realize the turning function in the three-dimensional space. When the head hydraulic driving device 13 drives the head drilling body section 1 to rotate clockwise, and the tail hydraulic driving device 33 drives the tail drilling body section 3 to rotate counterclockwise, the robot drills forward. When the head drilling body section 1 and the tail drilling body section 3 rotate in opposite directions to the forward rotation direction, the robot retreats, and can move freely and skillfully in the stratum.

[0045] In the embodiment, the head hydraulic driving device 13 comprises a head hydraulic motor 130 and a head motor cylinder 131. The head hydraulic motor 130 is fixedly arranged in the head motor cylinder 131. The tail end of the head motor cylinder 131 and the tail end of the head outer cylinder 12 are connected through a first bearing 16, so that the head outer cylinder 12 can rotate relative to the head motor cylinder 131. The inside of the head outer cylinder 12 and the outside of the head motor cylinder 131 are respectively provided with a first blocking ring for axially limiting the first bearing 16, so as to ensure that the axial position of the first bearing 16 is unchanged, and the position of the first bearing 16 is kept stable. The first bearing 16 is a deep groove ball bearing.

[0046] In the embodiment, the head transmission module 14 comprises a head driving gear 140, a head driven gear 141 and a head gear ring 142, the head driving gear 140 is fixed to the output end of the head hydraulic motor 130, the head gear ring 142 is fixed in the head outer cylinder 12, the head driven gear 141 is engaged with the head driving gear 140 and the head gear ring 142 respectively, the head driven gear 141 is provided with two, which are located on both sides of the head driven gear 141, the head driven gear 141 is rotatably connected to the fixed shaft on the head gear support plate 17, the head gear support plate 17 is fixed to the head motor cylinder 131, the side of the head transmission module 14 away from the head gear support plate 17 is provided with a head oil pipe protection plate 18, and the head oil pipe protection plate 18 is fixedly connected with the head gear support plate 17 through the head support column 19. The head hydraulic motor 130 drives the head driving gear 140 to rotate, and drives the head gear ring 142 to rotate through the head driven gear 141, so as to realize the rotation of the head outer cylinder 12 and the head spiral drill bit 10. The head oil pipe protection plate 18 serves as a support structure for protecting the through oil pipe, avoiding the oil pipe from being stirred between the gears of the head transmission module 14, mainly plays a role of supporting and fixing the through oil pipe from the tail, and the oil pipe layout path is from the tail of the robot through the steering body section 2 to finally reach the head hydraulic motor 130 of the robot.

[0047] In the embodiment, the tail hydraulic drive device 33 comprises a tail hydraulic motor 330 and a tail motor cylinder 331, the tail hydraulic motor 330 is fixedly arranged in the tail motor cylinder 331, and the head of the tail motor cylinder 331 is connected with the head of the tail outer cylinder 32 through the second bearing 36, so that the tail outer cylinder 32 can rotate relative to the tail motor cylinder 331. The inside of the tail outer cylinder 32 and the outside of the tail motor cylinder 331 are both provided with a second retaining ring for axially limiting the second bearing 36, so as to ensure that the axial position of the second bearing 36 is unchanged, and the position of the second bearing 36 is kept stable. The second bearing 36 is a deep groove ball bearing.

[0048] In the embodiment, the tail transmission module 34 comprises a tail driving gear, a tail driven gear and a tail gear ring, the tail driving gear is fixed to the output end of the tail hydraulic motor 330, the tail gear ring is fixed in the tail outer cylinder 32, the tail driven gear is engaged with the tail driving gear and the tail gear ring respectively, the tail driven gear is provided with two, which are located on both sides of the tail driving gear respectively, the tail driven gear is rotatably connected to the fixed shaft on the tail gear support plate 37, the tail gear support plate 37 is fixed to the tail motor cylinder 331, the tail transmission module 34 is provided with a tail oil pipe protection plate 38 on the side away from the tail gear support plate 37, and the tail oil pipe protection plate 38 is fixedly connected with the tail gear support plate 37 through the tail support column. The tail hydraulic motor 330 drives the tail driving gear to rotate, and drives the tail gear ring to rotate through the tail driven gear, so that the tail outer cylinder 32 and the tail spiral drill bit 30 rotate. In the embodiment, the structure of the tail transmission module 34 is the same as that of the head transmission module 14, which is convenient for manufacturing. The tail oil pipe protection plate 38 serves as a support structure for protecting the through oil pipe, avoiding the through oil pipe from being stirred between the gears of the tail transmission module 34, and mainly plays a role of supporting and fixing the head and tail through oil pipes.

[0049] In the embodiment, the main control cabin 15 is arranged at the head of the head outer cylinder 12 and located on the side close to the first end of the head outer cylinder 12 of the head oil pipe protection plate 18. The sensors comprise a methane sensor 40, a cone tip / side friction force sensor 41, a temperature sensor 42 and a pressure sensor 43, which are uniformly arranged on the inner side of the steering body section outer cylinder 20 in the circumferential direction and can realize multi-level in-situ real-time dynamic long-term monitoring in the formation. The cone tip / side friction force sensor 41 is arranged on the inner side of the steering body section outer cylinder 20, which is considered to protect the sensor body when the drilling robot is drilling. When data needs to be collected, the sensor is stretched out from the inside of the steering body section outer cylinder 20 at a constant speed and real-time collection of the surrounding formation soil mechanics parameter information is realized. The steering body section outer cylinder 20 is externally provided with four circumferentially uniformly distributed rib plates; the eight electromagnetic valves 35 are circumferentially uniformly distributed on the outer side of the tail motor cylinder 331, wherein the eight electromagnetic valves 35 are four pairs respectively, which are used to control the head hydraulic motor 130, the tail hydraulic motor 330, the head steering push cylinder 211 and the tail steering push cylinder 213.

[0050] In the embodiment, the tail end of the head motor cylinder 131 is fixedly connected with the head steering ring 210 through the first flange mechanism 5; the first flange mechanism 5 is respectively provided with a large end flange plate and a small end flange plate at two ends, the large end flange plate of the first flange mechanism 5 is fixedly connected with the tail end of the head motor cylinder 131 through bolts, and the small end flange plate of the first flange mechanism 5 is fixedly connected with the head steering ring 210 through bolts.

[0051] In the embodiment, the first end of the tail motor barrel 331 is fixedly connected with the tail steering ring 212 through the second flange mechanism 6. The second flange mechanism 6 has a large-end flange plate and a small-end flange plate at two ends respectively. The large-end flange plate of the second flange mechanism 6 is fixedly connected with the first end of the tail motor barrel 331 through bolts. The small-end flange plate of the second flange mechanism 6 is fixedly connected with the tail steering ring 212 through bolts.

[0052] In the embodiment, the tail outer barrel 32 and the tail end of the tail spiral drill bit 30 are open, so as to facilitate the passing of hydraulic oil pipes, cables and communication cables.

[0053] The working principle of the application is as follows:

[0054] The application provides a seabed stratum drilling monitoring robot based on hydraulic driving, which is connected with a hydraulic oil pipe, a cable and a communication cable through a channel reserved in a tail drilling body section, the hydraulic oil pipe is connected to the tail end of the tail drilling body section, and the hydraulic oil pipe is distributed and driven by an electromagnetic valve to drive a head hydraulic motor, a tail hydraulic motor, a head steering push cylinder and a tail steering push cylinder. A main control cabin of the head drilling body section is integrated with a fluxgate sensor, signal acquisition, data preprocessing and a data transmission system, and is responsible for built-in electromagnetic valve control, data acquisition and storage, robot path planning and the like. When the robot works, the head hydraulic motor is started, the output shaft of the head hydraulic motor is fixedly connected with a head driving gear, the head driving gear is in transmission connection with a head driven gear and a head gear ring through a head driven gear, the head gear ring is fixedly connected with a head outer cylinder through a screw, so that when the head hydraulic motor is started, the head outer cylinder and the head spiral drill bit can be rotated through the head transmission module, and the tail hydraulic motor can be started through the tail transmission module to rotate the tail outer cylinder and the tail spiral drill bit, so that the drilling functions of the head drilling body section and the tail drilling body section are realized. Two head steering push cylinders in the steering body section are started, the two head steering push cylinders can be stretched and contracted by a certain angle, so that a certain offset amount is generated in a head steering ring hinged with the two head steering push cylinders through a fisheye joint, so that the first flange mechanism fixedly connected with the head steering ring is offset, and then the head motor cylinder fixedly connected with the first flange mechanism is offset, that is, the head drilling body section is swung by a certain angle up and down when the drilling work is performed; similarly, the tail drilling body section can be swung by a certain angle left and right through the two tail steering push cylinders in the steering body section, so that the tail motor cylinder is offset. Since the lines of the two head steering push cylinders in the steering body section and the lines of the two tail steering push cylinders are cross orthogonal, the swinging directions of the head drilling body section and the tail drilling body section are also orthogonal to each other, so that the steering function in three-dimensional space is realized. Through the regulation and control of the main control cabin in the head drilling body section, when the head hydraulic motor drives the head drilling body section to rotate clockwise and the tail hydraulic motor drives the tail drilling body section to rotate counterclockwise, the robot drills forward, and when the head hydraulic motor drives the head drilling body section to rotate counterclockwise and the tail hydraulic motor drives the tail drilling body section to rotate clockwise, the robot retreats, so that the robot is intelligently moved in the stratum. The steering body section is loaded with a methane sensor, a cone / tangential friction sensor, a temperature sensor and a pressure sensor, and can collect temperature, pressure, methane concentration and cone / tangential friction values during the drilling process.

[0055] The principles and implementation manners of the present application are described by using specific examples in the present application, and the above examples are only used for helping to understand the method of the present application and its core idea; meanwhile, for the general technical personnel in the art, according to the idea of the present application, the specific implementation manners and application ranges will be changed. In conclusion, the content of the present specification should not be understood as the limitation of the present application.

Claims

1. A hydraulic drive based seabed formation drilling monitoring robot, characterized by: The drilling body comprises a head drilling body section, a steering body section and a tail drilling body section connected in sequence; The head drilling body section comprises a head spiral drill bit, the outer surface of which is provided with head spiral blades, and a head outer cylinder fixedly arranged in the head spiral drill bit, and a head hydraulic drive device arranged in the head outer cylinder, the head hydraulic drive device being connected with the head outer cylinder through a head transmission module and used for driving the head outer cylinder to rotate together with the head spiral drill bit. The tail drilling body section comprises a tail spiral drill bit, the outer surface of which is provided with tail spiral blades, and a tail outer cylinder fixedly arranged in the tail spiral drill bit, and a tail hydraulic drive device arranged in the tail outer cylinder, the tail hydraulic drive device being connected with the tail outer cylinder through a tail transmission module and used for driving the tail outer cylinder to rotate together with the tail spiral drill bit. The steering body section comprises a steering body section outer cylinder and a steering mechanism, the steering mechanism comprising a head steering ring, head steering push cylinders, a tail steering ring and tail steering push cylinders; the head steering ring is connected with the head hydraulic drive device, and the two ends of the head steering ring in the radial direction are rotatably connected to the head end of the steering body section outer cylinder; the tail steering ring is connected with the tail hydraulic drive device, and the two ends of the tail steering ring in the radial direction are rotatably connected to the tail end of the steering body section outer cylinder, and the rotation axis of the tail steering ring is perpendicular to the rotation axis of the head steering ring. The two ends of the head steering ring in the radial direction perpendicular to the rotation axis of the head steering ring are respectively hinged to one end of two head steering push cylinders through fisheye joints, and the other end of the two head steering push cylinders is respectively hinged to the two ends of the rotation axis of the tail steering ring in the corresponding radial direction. The two ends of the tail steering ring in the radial direction perpendicular to the rotation axis of the tail steering ring are respectively hinged to one end of two tail steering push cylinders through fisheye joints, and the other end of the two tail steering push cylinders is respectively hinged to the two ends of the rotation axis of the head steering ring in the corresponding radial direction. The head drilling body section is provided with a main control cabin, the steering body section is provided with a sensor for measuring the seabed environment, the tail drilling body section is provided with a solenoid valve, and the tail end of the tail drilling body section is connected with a hydraulic oil pipe, an electric cable and a communication cable; the hydraulic oil pipe is connected with the head hydraulic drive device, the tail hydraulic drive device, each head steering push cylinder and each tail steering push cylinder through the solenoid valve; the electric cable is connected with the main control cabin, the sensor and the solenoid valve; the sensor and the solenoid valve are respectively connected with the main control cabin in signal; and the communication cable is connected with the main control cabin.

2. The hydraulic drive based seabed formation drilling monitoring robot according to claim 1, characterized in that: The head hydraulic drive device comprises a head hydraulic motor and a head motor cylinder, the head hydraulic motor being fixedly arranged in the head motor cylinder, and the tail end of the head motor cylinder being connected with the tail end of the head outer cylinder through a first bearing.

3. The hydraulic drive based seabed formation drilling monitoring robot according to claim 2, characterized in that: The head transmission module comprises a head driving gear, a head driven gear and a head gear ring, the head driving gear is fixed to the output end of the head hydraulic motor, the head gear ring is fixed in the head outer cylinder, the head driven gear is engaged with the head driving gear and the head gear ring respectively, the head driven gear is rotatably connected to a fixed shaft on a head gear support plate, the head gear support plate is fixed to the head motor cylinder, the head transmission module is provided with a head oil pipe protection plate on the side away from the head gear support plate, and the head oil pipe protection plate is fixedly connected with the head gear support plate through a head support column.

4. The hydraulic drive based seabed formation drilling monitoring robot according to claim 1, characterized in that: The tail hydraulic drive device comprises a tail hydraulic motor and a tail motor cylinder, the tail hydraulic motor is fixedly arranged in the tail motor cylinder, and the first end of the tail motor cylinder is connected with the first end of the tail outer cylinder through a second bearing.

5. The hydraulic drive based seabed formation drilling monitoring robot according to claim 4, characterized in that: The tail transmission module comprises a tail driving gear, a tail driven gear and a tail gear ring, the tail driving gear is fixed to the output end of the tail hydraulic motor, the tail gear ring is fixed in the tail outer cylinder, the tail driven gear is engaged with the tail driving gear and the tail gear ring respectively, the tail driven gear is rotatably connected to a fixed shaft on a tail gear support plate, the tail gear support plate is fixed to the tail motor cylinder, and the tail transmission module is provided with a tail oil pipe protection plate on the side away from the tail gear support plate, and the tail oil pipe protection plate is fixedly connected with the tail gear support plate through a tail support column.

6. The hydraulic drive based seabed formation drilling monitoring robot according to claim 3, characterized in that: The main control cabin is arranged at the head of the head outer cylinder and located on the side of the head oil pipe protection plate close to the first end of the head outer cylinder.

7. The hydraulic drive based seabed formation drilling monitoring robot according to claim 4, characterized in that: The sensors comprise methane sensors, cone tip / side friction force sensors, temperature sensors and pressure sensors, which are uniformly arranged on the inner side of the steering body section outer cylinder in the circumferential direction; the electromagnetic valves are provided with eight, which are uniformly distributed on the outer side of the tail motor cylinder in the circumferential direction.

8. The hydraulic drive based seabed formation drilling monitoring robot according to claim 2, characterized in that: The tail end of the head motor cylinder is fixedly connected with the head steering ring through a first flange mechanism; The inside of the head outer cylinder and the outside of the head motor cylinder are provided with a first stop ring for axially limiting the first bearing.

9. The hydraulic drive based seabed formation drilling monitoring robot according to claim 4, characterized in that: The first end of the tail motor cylinder is fixedly connected with the tail steering ring through a second flange mechanism; The inside of the tail outer cylinder and the outside of the tail motor cylinder are provided with a second stop ring for axially limiting the second bearing.

10. The hydraulic drive based seabed formation drilling monitoring robot according to claim 1, characterized in that: The tail end of the tail outer cylinder and the tail spiral drill bit is open, for the hydraulic oil pipe, the cable and the communication cable to pass in.

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